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<div class="title">processing_functions.h</div>  </div>
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<a href="processing__functions_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00027"></a>00027 <span class="preprocessor">#ifndef PROCESSING_FUNCTIONS_H_</span>
<a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#define PROCESSING_FUNCTIONS_H_</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 
<a name="l00031"></a>00031 <span class="comment">/*********************************** Processing functions *************************************/</span>
<a name="l00032"></a>00032 <span class="comment">// Information struct for processing functions</span>
<a name="l00033"></a><a class="code" href="structproc__func__info.html">00033</a> <span class="keyword">typedef</span> <span class="keyword">const</span> <span class="keyword">struct </span>{
<a name="l00034"></a><a class="code" href="group__tables.html#ga133713acbe60983f171f71e2d81fae3f">00034</a>         uint8_t <a class="code" href="group__tables.html#ga133713acbe60983f171f71e2d81fae3f">id</a>;
<a name="l00035"></a><a class="code" href="group__tables.html#gab0d228e3d6f56666fb9d9bf0f25f8d7b">00035</a>         void (*func_p)(void);
<a name="l00036"></a><a class="code" href="group__tables.html#ga128ad5d7538eef603b5f0dab9c42174b">00036</a>         <span class="keywordtype">int</span> <a class="code" href="group__tables.html#ga128ad5d7538eef603b5f0dab9c42174b">max_proc_time</a>; 
<a name="l00037"></a>00037 } <a class="code" href="structproc__func__info.html">proc_func_info</a>;
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="comment">// Externally declared processing functions</span>
<a name="l00040"></a>00040 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#gaae1bbd924940610e1709300d40ca5a0f">update_imu_data_buffers</a>(<span class="keywordtype">void</span>);
<a name="l00041"></a>00041 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77">initialize_navigation_algorithm</a>(<span class="keywordtype">void</span>);
<a name="l00042"></a>00042 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#ga9169808fbcb9f517deb908960a69ca7a">strapdown_mechanisation_equations</a>(<span class="keywordtype">void</span>);
<a name="l00043"></a>00043 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#gac80ad2aa648edb47edb8f62883cb2a7d">time_up_data</a>(<span class="keywordtype">void</span>);
<a name="l00044"></a>00044 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#gaf0b7424f50d37755b6b0736808082299">ZUPT_detector</a>(<span class="keywordtype">void</span>);
<a name="l00045"></a>00045 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#ga0b4ee34435eebb426eb367120ee79d72">zupt_update</a>(<span class="keywordtype">void</span>);
<a name="l00046"></a>00046 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#ga71833d5eb4e7c71baaaa9e707a6c1f8d">precision_gyro_bias_null_calibration</a>(<span class="keywordtype">void</span>);
<a name="l00047"></a>00047 <span class="keyword">extern</span> <span class="keywordtype">void</span> <a class="code" href="group__tables.html#gabb3f28a44a35898c77d789734914c4c2">calibrate_accelerometers</a>(<span class="keywordtype">void</span>);
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 <span class="comment">// Processing functions ids</span>
<a name="l00050"></a><a class="code" href="group__tables.html#gac644d2e05254dadd0b19a93c12c0afd9">00050</a> <span class="preprocessor">#define UPDATE_BUFFER 0x04</span>
<a name="l00051"></a><a class="code" href="group__tables.html#ga88f8e60882c5d69d913d1b616687465d">00051</a> <span class="preprocessor"></span><span class="preprocessor">#define INITIAL_ALIGNMENT 0x05</span>
<a name="l00052"></a><a class="code" href="group__tables.html#gaec182aad2e49484d086d38c7ed1f9fe4">00052</a> <span class="preprocessor"></span><span class="preprocessor">#define MECHANIZATION 0x06</span>
<a name="l00053"></a><a class="code" href="group__tables.html#ga72e2455cf02251f80606a36183764cd1">00053</a> <span class="preprocessor"></span><span class="preprocessor">#define TIME_UPDATE 0x07</span>
<a name="l00054"></a><a class="code" href="group__tables.html#ga2ea883c0ff4e6a5d37f32290ab3524b7">00054</a> <span class="preprocessor"></span><span class="preprocessor">#define ZUPT_DETECTOR 0x08</span>
<a name="l00055"></a><a class="code" href="group__tables.html#ga7d004ff741f1e7caad510eaa0a548fc1">00055</a> <span class="preprocessor"></span><span class="preprocessor">#define ZUPT_UPDATE 0x09</span>
<a name="l00056"></a><a class="code" href="group__tables.html#ga5f00f42fc2574820abde7c7dd797a036">00056</a> <span class="preprocessor"></span><span class="preprocessor">#define GYRO_CALIBRATION 0x10</span>
<a name="l00057"></a><a class="code" href="group__tables.html#ga8b4361d794c38610770d0078d5a581f3">00057</a> <span class="preprocessor"></span><span class="preprocessor">#define ACCELEROMETER_CALIBRATION 0x11</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span>
<a name="l00059"></a>00059 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> update_imu_data_buffers_info = {<a class="code" href="group__tables.html#gac644d2e05254dadd0b19a93c12c0afd9">UPDATE_BUFFER</a>,&amp;<a class="code" href="group__tables.html#gaae1bbd924940610e1709300d40ca5a0f">update_imu_data_buffers</a>,0};
<a name="l00060"></a>00060 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> initialize_navigation_algorithm_info = {<a class="code" href="group__tables.html#ga88f8e60882c5d69d913d1b616687465d">INITIAL_ALIGNMENT</a>,&amp;<a class="code" href="group__tables.html#ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77">initialize_navigation_algorithm</a>,0};
<a name="l00061"></a>00061 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> strapdown_mechanisation_equations_info = {<a class="code" href="group__tables.html#gaec182aad2e49484d086d38c7ed1f9fe4">MECHANIZATION</a>,&amp;<a class="code" href="group__tables.html#ga9169808fbcb9f517deb908960a69ca7a">strapdown_mechanisation_equations</a>,0};
<a name="l00062"></a>00062 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> time_up_data_info = {<a class="code" href="group__tables.html#ga72e2455cf02251f80606a36183764cd1">TIME_UPDATE</a>,&amp;<a class="code" href="group__tables.html#gac80ad2aa648edb47edb8f62883cb2a7d">time_up_data</a>,0};
<a name="l00063"></a>00063 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> ZUPT_detector_info = {<a class="code" href="group__tables.html#ga2ea883c0ff4e6a5d37f32290ab3524b7">ZUPT_DETECTOR</a>,&amp;<a class="code" href="group__tables.html#gaf0b7424f50d37755b6b0736808082299">ZUPT_detector</a>,0};
<a name="l00064"></a>00064 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> zupt_update_info = {<a class="code" href="group__tables.html#ga7d004ff741f1e7caad510eaa0a548fc1">ZUPT_UPDATE</a>,&amp;<a class="code" href="group__tables.html#ga0b4ee34435eebb426eb367120ee79d72">zupt_update</a>,0};
<a name="l00065"></a>00065 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> precision_gyro_bias_null_calibration_info = {<a class="code" href="group__tables.html#ga5f00f42fc2574820abde7c7dd797a036">GYRO_CALIBRATION</a>,&amp;<a class="code" href="group__tables.html#ga71833d5eb4e7c71baaaa9e707a6c1f8d">precision_gyro_bias_null_calibration</a>,0};
<a name="l00066"></a>00066 <span class="keyword">static</span> <a class="code" href="structproc__func__info.html">proc_func_info</a> calibrate_accelerometers_info = {<a class="code" href="group__tables.html#ga8b4361d794c38610770d0078d5a581f3">ACCELEROMETER_CALIBRATION</a>,&amp;<a class="code" href="group__tables.html#gabb3f28a44a35898c77d789734914c4c2">calibrate_accelerometers</a>,0};
<a name="l00067"></a>00067 
<a name="l00068"></a><a class="code" href="group__tables.html#ga41846acfd74bdde84b592227e9875931">00068</a> <span class="keyword">const</span> <a class="code" href="structproc__func__info.html">proc_func_info</a>* <a class="code" href="group__tables.html#ga41846acfd74bdde84b592227e9875931">processing_functions</a>[] = {&amp;update_imu_data_buffers_info,
<a name="l00069"></a>00069                                                                                                            &amp;initialize_navigation_algorithm_info,
<a name="l00070"></a>00070                                                                                                            &amp;strapdown_mechanisation_equations_info,
<a name="l00071"></a>00071                                                                                                            &amp;time_up_data_info,
<a name="l00072"></a>00072                                                                                                            &amp;ZUPT_detector_info,
<a name="l00073"></a>00073                                                                                                            &amp;zupt_update_info,
<a name="l00074"></a>00074                                                                                                            &amp;precision_gyro_bias_null_calibration_info,
<a name="l00075"></a>00075                                                                                                            &amp;calibrate_accelerometers_info};
<a name="l00076"></a>00076 
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 <span class="preprocessor">#endif </span><span class="comment">/* PROCESSING_FUNCTIONS_H_ */</span>
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